26-07-2017, 10:20 PM
29-07-2017, 09:47 AM
The Klann coupling is a flat mechanism designed to simulate the gait of animals with legs and functions as a wheel replacement. The link consists of the frame, a crank, two rocker arms with ground connection, and two couplers all connected by pivot joints. It was developed by Joe Klann in 1994 as an expansion of the Burmester curves that are used to develop four-bar double-jointed links as cranes for harbor cranes. It is categorized as a modified Stephenson type III kinematic chain.
The proportions of each of the links in the mechanism are defined to optimize the linearity of the foot during half the rotation of the crank. The remaining rotation of the crank allows the foot to rise to a predetermined height before returning to the starting position and repeating the cycle. Two of these couplings coupled to each other in the crank and a half out-of-phase cycle together will allow the frame of a vehicle to travel parallel to the ground.
The Klann coupling provides many of the benefits of more advanced walking vehicles without some of its limitations. You can pass curbs, climb stairs or travel to areas that are not currently accessible with wheels, but do not require microprocessor control or multitude of drive mechanisms. It integrates into the technological space between these walking devices and axle wheels.